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Installation and Operation Manual

Version 1.0.0, June 2016


Firmware 5.0.1

Technical Specifications:

Principle: Infrared TimeofFlight (ToF)


Range: Up to 14m indoors (At least 5 to 6m in sunlight)
Update rate: 1000Hz in fast mode (Up to 600Hz in precision mode)
Range resolution: 0.5cm
Accuracy: 4cm in precision mode
Field of view: 3
Supply voltage: 10V DC recommended (10 to 20V DC accepted)
Supply current: 50mA average (110mA peak @12V)
Interfaces: 1.UART (+5V level, up to 115200,8,N,1)
2.TWI (I2C compatible, +5V level, up to 400kHz, configurable address)
Connector: 15 pin DF13 (openended, 1.27mm pitch flat ribbon cable provided)
Designs: Box, Spider, Frame
Weight: 8g (Spider, Frame) or 10g (Box)
Sensor types: Type A (Box, Spider) and Type B (Box, Frame)


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Safety Notes

The TeraRanger One is eyesafe in all conditions, including system failure. However,
please keep a minimum of 20cm distance from your eyes when handling the sensor
underpoweranddonotlookintotheLEDswithanykindofopticalinstruments.

Table of Contents
1 AbouttheTeraRangerOne
1.1 InsidethePackage
1.2 USBadapter
1.3 DimensionsandMounting
1.4 AbouttheConnector
1.5 UARTDataInterface
1.6 TWI(I2C)DataInterface
1.7 USBInterface
1.8 DetailsonSupplyVoltage
2 ConnectingtheTeraRangerOneUsingaComputerWithaSerialConsole
2.1 Windows
2.2 MacOS
2.3 Linux
3 RunningtheTeraRangerOneinROS
5 Protocoldescription
5.1 UARTinterface
5.2 I2Cinterface
6 HowtoconnecttoPixhawkautopilot
7 HowtocalculatetheCRC8checksum
8 Understandingthefieldofview


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1 About the TeraRanger One


1.1 Inside the Package

YouwillreceivethefollowingitemswhenpurchasingaTeraRangerOne:

afullyassembledandcalibratedsensor
aconnectorcablewithopenendsthatcanbesolderedtoyourdevice

1.2 USB adapter

An optional USB adapter is available for simple plug &playconnectiontoaPCorMac.The


USB adapter provides power to the sensor and data transfer to and from the sensor. It is
ideal for evaluation and testing and formakingfirmware updatestothesensor,anditisalso
anessentialitemincaseyouneedpostsalestechnicalsupport.

TheUSBadaptercanbepurchasedat:
http://www.teraranger.com/product/terarangerusbadapter/

IfyouhavepurchasedaUSBadapterinadditionto
your TeraRanger One, you will also receive the
followingitems:

theUSBadapterboard
aconnectorcablethatconnectsyourUSB
adapterboardtoyourTeraRangerOne
aMiniUSBcablethatconnectstheUSB
adapterboardtoyourcomputer


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1.3 Dimensions and Mounting

The TeraRanger One provides three mounting holes, which are designed for M2.5 screws.
The individual distances between the holes are shown in the following figure which is valid
foralldesignsof theyellowouterplasticpart.Moreover,the
following aspects should be taken into consideration when
mountingtheTeraRangerOne:

Do notremovetheplasticcoverasthiswillmisalignthe
opticsanddegradethesensorsperformance
MounttheTeraRangerOneinawellventilatedlocation
Take the usual precautions for sensitive electronics
such as maintaining a suitable distance to strong electric
and magnetic fields, strong radio emitters, strong heat
sources,etc.

1.4 About the Connector

The TeraRanger One connects to your equipment using a 15 pin connector of the Hirose
DF13 series. (The part number of the corresponding femaleconnectoris DF1315S1.25C.)
The cable assembly delivered with the TeraRanger One comes with six wires installed:
Ground (GND, pin 1 and 15), positive supply voltage(Vcc, pin14),UARTreceive(RXD,pin
12)*, UART transmit (TXD, pin 13)* and reset (pin 7).Pleaseusethefollowingimage(valid
forallyellowouterpartdesigns)andtabletoidentifythepins:

Pin Function
15 GND
14 Vcc(10V,accepts1020V)
13 Serialout(TXD),5Vlevel
12 Serialin(RXD),5Vlevel
11 TWI**SDA
10 TWI**SCL
9 UserI/O1
8 UserI/O2
7 Arduinocompatibleresetin(toDTR)
6 Resetin(pulltoGNDtoreset)
5 MOSI(forSPIorflashing)
4 MISO(forSPIorflashing)
3 SCLK(forSPIorflashing)
2 +5Vout(useonlytoprovidevoltagelevelstoprogrammingdevices,max.10mA!)
1 GND


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Note:
Once connected, DF13 connectors are very reliable and are perfect for roboticsand
drone environments where vibrations are common. However, these connectors are
not made for infinite plugging and unplugging. If you need to plug and unplug the
sensorsfrequently,consideraddingamoresuitableconnectorinline.
Please do not apply shear forces to the connector when pushing it in the socket.
Ideally, press thesocketdowntothePCBwithyourthumband pushtheconnectorin
with your other hand. Do not use tools like pliers etc.! You can find good instruction
videosonDF13pluggingandunpluggingonYouTube.
Additional cables can be purchased from the TeraRanger website or your preferred
TeraRangerreseller.
Please follow basic rules on ESD** safety when connecting and touching the
TeraRangerOne!
DonotapplyforcetotheTeraRangerOnePCBwhilehandlingandinstallingit.
Do not plug or unplug the sensor under power. Hot plugging and unplugging may
damagethesensor.

*UARTisthedefaultinterface
**Seeforexample
http://en.wikipedia.org/wiki/Electrostatic_discharge

1.5 UART Data Interface

The default interface is UART on pins 12 and 13.Itneedsaninputvoltagelevelof5V(logic


high) to run reliably, the outputvoltagelevelis5V.PleaseuseaserialtoUSBinterface(e.g.
such as the TeraRangerUSBadapter )toconnecttheTeraRangerOnetoyourPC. DONOT
connect the TeraRanger One to a real RS232 port of a PC, the voltage levels aredifferent
andmightdestroythesensorselectronics.

The UART is configured to send and receive at 115200 bit/s, 8 data bits, no parity bit and
onestopbit(1152008N1).

1.6 TWI (I2C) Data Interface

Another way to connect to your TeraRanger One is the TWI(orbetterknownasNXPsI2C)


interface. Using this interface, you can connect multiple TeraRanger Ones to a TWI master
on the same bus. Please refer to the protocol description (chapter 5) to see how the bus
address of each TeraRanger One can be changed individually to avoid collisions on the
bus. Please keep in mind that the TeraRanger One has a relatively narrow field of view.
Hence, multiple TeraRanger Ones looking into opposite or perpendicular directions can be
triggeredatthesametime,allowingasignificantlyincreasedreadoutspeed!

Please refer to chapter 1.4 for the the electrical connections to be made forusingTWI.The
signal levelsare5V,themaximumbusspeedis400kHzandthe pullupresistors(10kOhms)
are already integrated in the TeraRanger One. If you want to connect to an I2C bus with


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3.3V voltage levels, you need to use a voltage level translator. An I2C adapter for reliable
voltageleveltranslation is available from our website at:
http://www.teraranger.com/product/terarangeri2cadapter/ .

In addition you have the option to purchase the TeraRanger Hub. This accessory board
allows you to connect up to eight TeraRanger One sensors and read the data from the
sensors via a single serial or USB link. See more at:
http://www.teraranger.com/products/terarangerhub/

1.7 USB Interface

If you have purchased the TeraRanger One USB adapter , you can directly connect the
TeraRanger One to your PC without the need of any additional power supply. In most
modern operating systems, a driver for thisinterface isalreadypresentand theinterfacewill
appear as an FTDI virtual COM port to which you can connect using the settings that were
previouslymentionedintheUARTDataInterfacesection.

In case your computer asks you to provide a driver, please download the driver for your
operatingsystem from http://www.ftdichip.com/Drivers/VCP.htmandfollowtheinstaller.After
successful installation, unplug the interface for a moment and plug it back in. The virtual
COMportshouldnowbeavailableonyourPC.

Note: Do not plug/unplug the TeraRanger One from the USB adapter while the device is
powered,disconnecttheUSBplugfromthePCfirst!

1.8 Details on Supply Voltage

TeraRanger One works with clean, spike and interruption free voltages ranging from10Vto
20V and has an internal voltage regulator for optimal performance. However, to minimise
unnecessary heating, we advise the useofapreregulatordownto12V,andideally10V.For
optimal efficiency, this should be a switching regulator (either buck or boost, depending on
thesupplyvoltageavailableonyoursystem)withalargeoutputcapacitorandgoodfiltering.

TeraRanger One is equipped with a safety shutdown to prevent damage from excessive
currents or board temperatures arising from eventual internal failures due to incorrect
mounting, misuse or externally provoked shortcircuits. In case of shutdown triggering, the
sensor resets automatically after reaching normal working conditions and a power cycle of
theexternalpowersupply.


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2 Connecting the TeraRanger One Using a Computer With a


Serial Console

Your TeraRanger One can interact with any serial consoleusingthefollowingconfiguration:


115200bit/s,8databits,noparitybitandonestopbit.

2.1 Windows

InWindowsyoucanuseterminalemulationsoftwarelikeHTerm.Ifyoudonotalreadyhave
terminalsoftwareyoucandownloadHTermfromthislink:
http://www.derhammer.info/terminal

MakesureyoudownloaditbeforepluggingtheTeraRangerOneintoyourUSBportviathe
TeraRanger
USBadapter!

Extractthedownloadedzipfiletothefolderofyourchoice,openitanddoubleclickonthe
HTerm.exefile.

NowconnecttheTeraRangerOnetoyourcomputerviatheUSBadapter.Inordertoselect
theUSBportonwhichtheTeraRangerOneisplugged,refreshtheportlistbyclickingonthe
Rbuttonasshownonthefollowingimage:

Onceyouhaveselectedtheport,clickontheConnectbutton.

ThedatawillnowappearintheReceiveddataboxinBinarymode:

Toconvertthedatatoahumanreadableoutput,simplytypeTintheTypeboxtodisplay
thedatainTextmode,asshowninthepicturebelow.Inthisexample,youcanseethat
themeasurementisaround1900mm.YoucanreturntoBinarymodebytypingBinthe


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Typebox.

If you want tochangethesensorsmeasurementmode,typeFinthe typeboxtoselectthe


Fast mode type P for the Precision mode or type O for the Optimal mode (refer to
section 5.1 for the description of the modes). In order to stop measurements simply press
thedisconnectbuttoninHTermandthenunplugtheUSBcable.

2.2 MacOS

WithMacOS,whenyouconnecttheTeraRangerOnetoyourcomputerthroughtheUSB
adaptor,youwillbeabletouseitthroughyourcomputersTerminalApplication.

Tofindthisapplicationgoto:

Applications>Utilities>Terminal



Youcannowclickontheitemtoentertheterminalandsettheappropriatereadingsettings
bycopyandpastingthisfirstcommandtothepage:

ls/dev/tty.*

ThiscommandwilltelltheterminaltoshowtheUSBdevicesnamethatwillbeusedto
acquiredistancedatafromyourTeraRangerOne.

Example:

/dev/cu.usbserialXXXXXXXXX(TheXswillhaveyourUSBportsname)

Onceyouhavefoundthis,enterthefollowingcodetothenextline:

screen/dev/cu.usbserialXXXXXXXX115200(ReplacetheXswithyourUSBports


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name)

ThedistancedatawillnowappearontheterminalinBinarymodeandwilllooklikethis:



PressthecommandsShift+TtoswitchfrombinarymodetoTextmode.Thiswilldisplaythe
distancevaluesinmillimeters,asfollows:


Tochangethesensorfromitsfastmodetoitsprecisionmode,press:

Shift+FforFastmode
Shift+PforPrecisionmode
Shift+OforOptimalmode

Tostopthedatameasurement,press:

Ctrl+AthenK

2.3 Linux

LinuxisverysimilartoMacOSandalsoworkswithaterminal.

Openaterminal(shortcut:ctrl+alt+t):

type:ls/dev/tty*


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Usuallythenameis/dev/ttyUSB0butitcanalsobettyUSB1,ttyUSB2,etc

Inordertoviewthedatastreamfromtheteraranger,type*thefollowing:

screen/dev/ttyXXX115200(replacettyXXXwiththecorrectserialdevicelike
ttyUSB0)

Toseedifferentoperatingmodes,refertotheMacOSsection.Thecommandsarethe
same.

*Beawarethat screen
mightnotbeinstalledinyourLinuxoperatingsystem,soyoumightneedtoinstallit.Pleasefollowthe
installationprocedurerecommendedforyourLinuxdistribution.

3 Running the TeraRanger One in ROS

We provide a ROS (Robot Operating System, http://www.ros.org ) node which provides a


topic to access the TeraRanger One data stream. Please note that the
sensor has to be
configured toworkinBinarymodebeforeyoucanstart usingitwithROS .Youcan download
theROSnodefrom: https://github.com/Terabee/terarangeroneros

TousetheROSnodeyouneedto:

1. CreateaROSWorkspace
2. Copythenodeterarangeronepackageintotheworkspacesrcdirectory
3. Compileusing:catkin_make
4. Setupenvironment:sourcedevel/setup.sh
5. Run**using:rosrunterarangeroneterarangerone_node_portname:=/dev/ttyUSB0

Ifyouwanttochangetheoperatingmode,run**:

rosrunrqt_reconfigurerqt_reconfigure


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** Remembertoexecutethedaemon roscorebeforerunningthe rosruncommand andchangetheUSBporttotheappropriate


one.

5 Protocol description

The TeraRanger One can be read out and controlled via either UART or I2C. Even though
both interfaces are activated in parallel, we recommend the use of only one interface at a
time. Usage in parallel can lead to erroneous behaviour and is not supported by us. If you
want to switch from oneinterfacetotheother,pleasepowercyclethesensorinbetweenthe
switch.

5.1 UART interface

The UART is configured to send and receive at 115200 bit/s, 8 data bits, no parity bit and
one stop bit (1152008N1). Please consult section 2 to see how you can connect the
TeraRangerOnetoyourPCrunningWindows,LinuxorMacOS.

UARTcommandsandoutputformat

InallUARTmodes,thesensorisfreerunning,thatmeansyoudonotneedtosendanything
tostartameasurement.Onceameasurementinthemodeyouselectedisfinished,the
sensorwillsendthedataintheformatyouselectedandimmediatelystartanew
measurement.

Two operating modes can be selected for either type A and type B sensors by sending the
correspondinguppercasecharactertotheTeraRangerOneviatheserialport:

SensortypeA

P Precise The TeraRanger One adapts its internal parameters to provide the best
mode available accuracy. This improved accuracy results in a decreaseofthe
measurement repetition rates, andthereforeinincreasedreactiontimes.
The delay between two measurements is variable and depends on the
target distance and properties. This mode offers an optimized
performanceinindoorenvironments.


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F Fast This mode ensures fixed measurement repetition rates and reaction
mode times. This improvement comes at the expense of thereadingaccuracy
and maximum range which is limited to 4.5m in this mode. The delay
betweentworeadingsis1ms.

SensortypeB

O Optimal The TeraRanger One adapts its internal parameters to provide the best
(Precise available accuracy in sunlight conditions while providing high repetition
mode for rates.Thedelaybetweentwomeasurementsisvariableanddependson
Btype) the target distance and properties. This mode offers an optimized
performanceinoutdoorenvironments.

F Fast This mode ensures fixed measurement repetition rates and reaction
mode times. This improvement comes at the expense of thereadingaccuracy
and maximum range which is limited to 4.5m in this mode. The delay
betweentworeadingsis1ms.

Youcanalsosettheoutputformatbysendingthecorrespondinguppercasecharacterto
theTeraRangerOneviatheserialport:

T Text Dataoutputinhumanreadableform(57bytesmessage):
output
xxxxx\r\n

Distance reading in millimeters* (maximum 5 bytes per sensor):
xxxxx
Carriagereturncharacter:\r (13decimal/0x0Dhex)
Newlinecharacter:\n(10decimal/0x0Ahex)

*please be aware that there is no zeropadding for leading zeros! If the
TeraRanger One is unable to measure adistance,itwilloutput1\r\nasan
error message. Valid measurements are decimal and between200\r\nand
14000\r\n. Measurements at distances below 20cm or beyond 14m will
displaythe200\r\nor14000\r\nlimits.


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Note: measurements beyond 4.5m in fast mode and text output might be
unreliable the use of Precise or Optimal modes, depending on the
environment,isadvisedforthesemeasurementranges

B Binary Dataoutput(4bytesmessage):
output
TXXCRC8

Header:T( 84decimal/0x54hex
)
Distancereadinginmillimeters**(2bytes):XX
Checksum(1byte)ofprevious3bytes:CRC8

**The TeraRanger One will output T00CRC (both distance bytes set to
zero)asanerrormessageinthefollowingsituations:
Itisunabletomeasureadistance
Thetargetdistanceisbelow20cmorbeyond14m

Validoutputsarefrom200decimalto14,000decimal.

Please note that the default modes when shipped are Precise with Binary output for
sensor type A and Optimal with Binary output for sensor type B. The modes you select
arekeptinvolatilememorybythesensorandhavetobesetaftereachpowercycle.

5.2 I2C interface

An alternative way to read out the TeraRanger One is via its TWI bus (also known asI2C).
Please refer to chapter 1.4 for the the electrical connections to be made forusingTWI.The
signal levelsare5V,themaximumbusspeedis400kHzandthe pullupresistors(10kOhms)
are already integrated in the TeraRanger One. If you want to connect to an I2C bus with
3.3V voltage levels, you need to use a voltage level translator. An I2C adapter for reliable
voltageleveltranslation is available from our website at:
http://www.teraranger.com/product/terarangeri2cadapter/ .

I2Ccommandsandoutputformat

TheTeraRangerOnecomesbydefaultwithI2Cbaseaddress(7bit)0x30andistherefore
readytobedirectlyconnectedtothePixhawkautopilotviatheTeraRangerI2Cadapter
withoutanyusermodificationsbeingnecessary.

LikeinUARTmode,theTeraRangerOneisfreerunning,thatmeansitwillrestartanew
measurementassoonasthelastoneisfinished.ThedatayoureadviaI2Cisalways
updatedattheendofameasurement,butyoucanreadatanytime.


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Readingthedistanceisdonebysending0x61(thisisthe7bitaddress0x30followedbythe
readbit'1')followedbythreebytereadoperations.Thefirsttwobytesyoureceivearea16
bitwordcontainingthelatestmeasurementinmm,thethirdbyteistheCRC8checksum.

WritingcommandstotheTeraRangerOne:
1. Sendtheaddressbyteconsistingofa7bitbaseaddressandthelastbitindicating
write(0),e.g.0x60forbaseaddress0x30.Allcommandslistedinthetablebelow
arewriteoperations,theanswerwillbeinthenextreadoperationforwhichyouhave
tosendthe7bitaddresswiththereadbitset.
2. Sendthedesiredcommandlistedinthetablebelow.
3. Incasethecommandcreatesananswer,readitbackimmediately.

ReadingdatafromtheTeraRangerOne:
1. Sendtheaddressbyteconsistingof7bitbaseaddressandthelastbitindicating
read(1),e.g.0x61forbaseaddress0x30.
2. Readbackthethenumberofbytesimposedbythecommand,e.g.threebytesfora
distancereading.

Commandin Commandname Commandexplanation


hexadecimal

0x01 WHO_AM_I WritethisvaluetoTROneviaI2Candthe


nextdistancereadingwillcontain0xA1in
thefirstbyte(ignoreothers).Youcanuse
thisfunctiontouniquelyidentifya
TeraRangerOneontheI2Cbus.

0xA2 CHANGE_BASE_ADDR Commandtochangebaseaddressofthe


TeraRangerOne.Writethisvalue
followedbynewaddresstoset,e.g.send
0x42ifyouwantbaseaddress0x42,
ignoreread/writebits.

Aftersendingthiscommand,powercycle
thedevice.AfterwardsitwilljointheI2C
busasaslaveonthenewaddress.

Please note that the default modes when shipped are Precise with Binary output for
sensor type A and Optimal with Binary output for sensor type B (refer to section 5.1 for
thedescriptionofthemodes).TheoperatingmodesfortheI2Cinterfacearesetbydefault.

6 How to connect to Pixhawk autopilot


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Initsdefaultstate,theTeraRangerOnecanbeconnectedtothePixhawkautopilotusingthe
TeraRangerI2Cadapter.Currently,Ardupilotfirmwarefrom3.3.3supportstheTeraRanger
Oneasaprecisionaltimeter.YoucanfinddetailsonhowtoconnecttheTeraRangerOneto
yourPixhawkon http://ardupilot.org/copter/docs/commonterarangeronerangefinder.html
.
Important:WhenthePixhawkboots,theTeraRangerOneneedstoalreadybepoweredon,
oratleastbepoweredonatthesametimeasthePixhawk.IfyoupowertheTeraRanger
OneafterthePixhawkhasbooted,itwillnotberecognised!

7 How to calculate the CRC8 checksum

AlldatatelegramsinUARTbinaryandI2CoutputareendingwithaCRC8checksumofthe
previousbytesincludingtheheaderbyteT.Pleasefindbelowanexamplefunctionyoucan
usetocalculatethischecksumfromthereceivedbyteswhichyoucanthencomparetothe
receivedchecksumtofigureoutiftransmissionerrorsoccurred.

uint8_t
crc8(
uint8_t
*p,
uint8_t
len){
//pisabufferoftypeuint8_tandoflengthlen

uint16_t
i

uint16_t
crc=0x0

while
(len){
i=(crc^*p++)&0xFF
crc=(crc_table[i]^(crc<<8))&0xFF
}

return
crc&0xFF
}

static

const

uint8_t
crc_table[]={
//ThistableisusedbytheCRC8calculationfunction
0x00,0x07,0x0e,0x09,0x1c,0x1b,0x12,0x15,0x38,0x3f,0x36,0x31,
0x24,0x23,0x2a,0x2d,0x70,0x77,0x7e,0x79,0x6c,0x6b,0x62,0x65,
0x48,0x4f,0x46,0x41,0x54,0x53,0x5a,0x5d,0xe0,0xe7,0xee,0xe9,
0xfc,0xfb,0xf2,0xf5,0xd8,0xdf,0xd6,0xd1,0xc4,0xc3,0xca,0xcd,
0x90,0x97,0x9e,0x99,0x8c,0x8b,0x82,0x85,0xa8,0xaf,0xa6,0xa1,
0xb4,0xb3,0xba,0xbd,0xc7,0xc0,0xc9,0xce,0xdb,0xdc,0xd5,0xd2,
0xff,0xf8,0xf1,0xf6,0xe3,0xe4,0xed,0xea,0xb7,0xb0,0xb9,0xbe,
0xab,0xac,0xa5,0xa2,0x8f,0x88,0x81,0x86,0x93,0x94,0x9d,0x9a,
0x27,0x20,0x29,0x2e,0x3b,0x3c,0x35,0x32,0x1f,0x18,0x11,0x16,
0x03,0x04,0x0d,0x0a,0x57,0x50,0x59,0x5e,0x4b,0x4c,0x45,0x42,
0x6f,0x68,0x61,0x66,0x73,0x74,0x7d,0x7a,0x89,0x8e,0x87,0x80,
0x95,0x92,0x9b,0x9c,0xb1,0xb6,0xbf,0xb8,0xad,0xaa,0xa3,0xa4,
0xf9,0xfe,0xf7,0xf0,0xe5,0xe2,0xeb,0xec,0xc1,0xc6,0xcf,0xc8,
0xdd,0xda,0xd3,0xd4,0x69,0x6e,0x67,0x60,0x75,0x72,0x7b,0x7c,
0x51,0x56,0x5f,0x58,0x4d,0x4a,0x43,0x44,0x19,0x1e,0x17,0x10,
0x05,0x02,0x0b,0x0c,0x21,0x26,0x2f,0x28,0x3d,0x3a,0x33,0x34,


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0x4e,0x49,0x40,0x47,0x52,0x55,0x5c,0x5b,0x76,0x71,0x78,0x7f,
0x6a,0x6d,0x64,0x63,0x3e,0x39,0x30,0x37,0x22,0x25,0x2c,0x2b,
0x06,0x01,0x08,0x0f,0x1a,0x1d,0x14,0x13,0xae,0xa9,0xa0,0xa7,
0xb2,0xb5,0xbc,0xbb,0x96,0x91,0x98,0x9f,0x8a,0x8d,0x84,0x83,
0xde,0xd9,0xd0,0xd7,0xc2,0xc5,0xcc,0xcb,0xe6,0xe1,0xe8,0xef,
0xfa,0xfd,0xf4,0xf3
}

8 Understanding the field of view

TeraRangerOnedistancemeasurementsarebasedonaninfraredtimeofflightprinciple:
thesensoremitsaninfraredsignalandcalculatesthedistancetothetargetbasedonthe
timeittakesforthereflectedsignaltobedetected.Thesystemisopticalandmeasured
withinaspecificfieldofview,whichis3degrees.

Thisfieldofviewcorrespondstoadetectionwindowof4.5cmx4.5cmatadistanceof1m,
andthiswindowsizescaleslinearlywithdistance.Ifmultipletargetsareplacedinthefieldof
viewofthesensor,adistanceaveragingeffectwilloccur.Thisisrepresentedinthefollowing
picture,whosedimensionshavebeenexaggeratedforclarity(notethattheactualfieldof
viewis3degrees!):

ShouldyouneedtomountyourTeraRangerOnesensorsbehindorwithinaprotective
screen,suchasglassorplastic,pleasecontact
support@teraranger.com
sothatwecan
giveyousomebestpracticeadvice.


90 Rue Henri Fabre Website: www.teraranger.com
01630 St. GenisPouilly Technical support: support@teraranger.com
France (next to CERN) Commercial: teraranger@terabee.com

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CopyrightTerabee2016


90 Rue Henri Fabre Website: www.teraranger.com
01630 St. GenisPouilly Technical support: support@teraranger.com
France (next to CERN) Commercial: teraranger@terabee.com

17